Related papers: Desiderata for Planning Systems in General-Purpose…
Gaze cues play an important role in human communication and are used to coordinate turn-taking and joint attention, as well as to regulate intimacy. In order to have fluent conversations with people, social robots need to exhibit human-like…
This paper addresses the challenge of enabling a single robot to effectively assist multiple humans in decision-making for task planning domains. We introduce a comprehensive framework designed to enhance overall team performance by…
Robot sequential decision-making in the real world is a challenge because it requires the robots to simultaneously reason about the current world state and dynamics, while planning actions to accomplish complex tasks. On the one hand,…
Building general-purpose robots that operate seamlessly in any environment, with any object, and utilizing various skills to complete diverse tasks has been a long-standing goal in Artificial Intelligence. However, as a community, we have…
Robots sharing their space with humans need to be proactive in order to be helpful. Proactive robots are able to act on their own initiative in an anticipatory way to benefit humans. In this work, we investigate two ways to make robots…
Trust between team members is an essential requirement for any successful cooperation. Thus, engendering and maintaining the fellow team members' trust becomes a central responsibility for any member trying to not only successfully…
It is intractable for assistive robots to have all functionalities pre-programmed prior to deployment. Rather, it is more realistic for robots to perform supplemental, on-site learning about user's needs and preferences, and particularities…
Preference learning has long been studied in Human-Robot Interaction (HRI) in order to adapt robot behavior to specific user needs and desires. Typically, human preferences are modeled as a scalar function; however, such a formulation…
Despite recent major advances in robotics research, massive injections of capital into robotics startups, and significant market appetite for robotic solutions, large-scale real-world deployments of robotic systems remain relatively scarce…
A robot's ability to provide descriptions of its decisions and beliefs promotes effective collaboration with humans. Providing such transparency is particularly challenging in integrated robot systems that include knowledge-based reasoning…
A growing field in robotics and Artificial Intelligence (AI) research is human-robot collaboration, whose target is to enable effective teamwork between humans and robots. However, in many situations human teams are still superior to…
We consider the design space available for social robots in terms of a hierarchy of functional definitions: the essential properties in terms of a locus of interaction, autonomy, intelligence, awareness of humans as possessors of mental…
This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…
Social robots, also known as service or assistant robots, have been developed to improve the quality of human life in recent years. The design of socially capable and intelligent robots can vary, depending on the target user groups. In this…
Various studies have been conducted on human-supporting robot systems. These systems have been put to practical use over the years and are now seen in our daily lives. In particular, robots communicating smoothly with people are expected to…
Robots that cooperate with humans must be effective at communicating with them. However, people have varied preferences for communication based on many contextual factors, such as culture, environment, and past experience. To communicate…
Designing multi-agent robotic systems requires reasoning across tightly coupled decisions spanning heterogeneous domains, including robot design, fleet composition, and planning. Much effort has been devoted to isolated improvements in…
The increasing deployment of robots in co-working scenarios with humans has revealed complex safety and efficiency challenges in the computation robot behavior. Movement among humans is one of the most fundamental -- and yet critical --…
Multi-robot systems are becoming increasingly relevant within diverse application domains, such as healthcare, exploration, and rescue missions. However, building such systems is still a significant challenge, since it adds the complexities…
In this paper, we present results from a human-subject study designed to explore two facets of human mental models of robots---inferred capability and intention---and their relationship to overall trust and eventual decisions. In…